Measurement device, measurement method, and non-transitory storage medium

ABSTRACT

A measurement device ( 200 ) includes a measurement unit ( 202 ) which performs measurement by emitting electromagnetic waves and scanning an object with the electromagnetic waves, and a control unit ( 204 ) which controls the measurement unit ( 202 ). The measurement unit ( 202 ) is operable in a first scan mode in which the object is scanned in a first direction, or a second scan mode in which the object is scanned in a second direction different from the first direction. The control unit ( 204 ) determines a scan mode to be executed by the measurement unit ( 202 ).

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of U.S. application Ser.No. 16/327,799, which is a U.S. National Stage entry of PCT ApplicationNo: PCT/JP2017/030588 filed Aug. 25, 2017, which claims priority toJapanese Patent Application No. 2016-165818, filed Aug. 26, 2016, thecontents of which are incorporated herein by reference.

TECHNICAL FIELD

The present invention relates to a measurement device, a measurementmethod, and a program.

BACKGROUND ART

A technique related to the present invention is disclosed in PatentDocument 1. Patent Document 1 discloses a detection apparatus thatirradiates a target area with laser beams in a state of being mounted toa moving body, and detects an obstacle in the target area. The detectionapparatus causes a laser beam to scan in a scanning pattern according tothe moving body turning right, turning left, travelling with a highspeed, or the like.

RELATED DOCUMENT Patent Document

-   [Patent Document 1] Japanese Patent Application Laid-open    Publication No. 2006-258604

SUMMARY OF THE INVENTION Technical Problem

Patent Document 1 discloses a plurality of scanning patterns forhorizontally moving a vertical scanning line, but in all the patterns,the vertical scanning line is moved in one direction from the right tothe left, so the patterns belong to one-type of pattern. An object ofthe present invention is to provide a new scanning method.

Solution to Problem

The invention described in claim 1 is a measurement device including

a measurement unit which performs measurement by emittingelectromagnetic waves and scanning an object with the electromagneticwaves; and

a control unit which controls the measurement unit,

in which the measurement unit is operable in a first scan mode in whichthe object is scanned in a first direction, or a second scan mode inwhich the object is scanned in a second direction different from thefirst direction, and

the control unit determines a scan mode to be executed by themeasurement unit.

The invention described in claim 12 is a measurement method executed bya computer, including

a measurement step of performing measurement by emitting electromagneticwaves and scanning an object with the electromagnetic waves; and

a control step of controlling the measurement step,

in which in the measurement step, it is operable in a first scan mode inwhich the object is scanned in a first direction, or a second scan modein which the object is scanned in a second direction different from thefirst direction, and

in which in the control step, a scan mode to be executed in themeasurement step is determined.

The invention described in claim 13 is a program causing

a computer to function as

a measurement unit which performs measurement by emittingelectromagnetic waves and scanning an object with the electromagneticwaves; and

a control unit which controls the measurement unit,

in which the measurement unit is operable in a first scan mode in whichthe object is scanned in a first direction, or a second scan mode inwhich the object is scanned in a second direction different from thefirst direction, and

the control unit determines a scan mode to be executed by themeasurement unit.

BRIEF DESCRIPTION OF THE DRAWINGS

The above objects and other objects, features and advantages will becomemore apparent from the following description of a preferred embodimentof the invention and the accompanying drawings.

FIG. 1 is an example of a functional block diagram of a measurementdevice.

FIG. 2 is a diagram illustrating a hardware configuration of a controlunit and a sending unit.

FIG. 3 is a diagram illustrating a hardware configuration of ameasurement unit.

FIG. 4 is a diagram for explaining a scanning method of the measurementdevice.

FIG. 5 is a diagram illustrating a hardware configuration of themeasurement unit that emits light.

FIG. 6 is a diagram illustrating the measurement device installed to amoving body.

FIG. 7 is a flowchart showing an example of a flow of a process of themeasurement device.

FIG. 8 is a flowchart showing an example of the flow of the process ofthe measurement device.

FIG. 9 is a flowchart showing an example of the flow of the process ofthe measurement device.

FIG. 10 is a flowchart showing an example of the flow of the process ofthe measurement device.

FIG. 11 is a diagram illustrating a hardware configuration of themeasurement unit.

FIG. 12 is a diagram illustrating a hardware configuration of themeasurement unit that emits light.

DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments of the present invention will be described withreference to the drawings. In all the drawings, the same constituentelements are denoted by the same reference numerals, and the descriptionthereof will not be repeated as appropriate.

<<Outline of Measurement Device>>

A measurement device according to the present embodiment includes ameasurement unit which performs measurement by emitting electromagneticwaves and scanning an object with the electromagnetic waves, and acontrol unit which controls the measurement unit. The measurement unitis operable in a first scan mode in which the object is scanned in afirst direction, or a second scan mode in which the object is scanned ina second direction different from the first direction. The control unitcan determine a scan mode to be executed by the measurement unit.

According to the measurement device of the present embodiment, it ispossible to select an appropriate one scan mode from a plurality of scanmodes according to a situation, and perform scanning and measurement.According to the measurement device of the present embodiment,variations in scanning are increased.

<<Configuration of Measurement Device>>

FIG. 1 shows an example of a functional block diagram of a measurementdevice 200 of the present embodiment. As shown in FIG. 1 , themeasurement device 200 includes a measurement unit 202 that performsmeasurement by scanning a target area with an electromagnetic wave, asending unit 206 that sends a measurement result obtained by themeasurement unit 202 (information indicating a position of an objectirradiated with the electromagnetic wave in the target area and adistance between the object and the measurement device 200) to a dataprocessing unit 300, and a control unit 204 that controls themeasurement unit 202 and the sending unit 206. The data processing unit300 may be provided in the measurement device 200 or may be provided inan external apparatus physically and/or logically separated from themeasurement device 200. The data processing unit 300 executes apredetermined process (detection, notification, or the like of anobstacle), based on the received measurement result.

<Hardware Configuration>

Each functional configuration unit of the measurement device 200 may beconfigured with hardware (for example, a hard-wired electronic circuit)that implements each functional configuration unit, or a combination ofhardware and software (for example, a combination of an electroniccircuit, a program for controlling the electronic circuit, and thelike). Hereinafter, the case where each functional configuration unit ofthe measurement device 200 is configured with a combination of hardwareand software will be further described.

“Hardware Configuration of the Control Unit 204 and the Sending Unit206”

FIG. 2 is a diagram illustrating a hardware configuration that realizesthe control unit 204 and the sending unit 206. An integrated circuit 100is an integrated circuit that realizes the control unit 204 and thesending unit 206. For example, the integrated circuit 100 is a system onchip (SoC).

The integrated circuit 100 includes a bus 102, a processor 104, a memory106, a storage device 108, an input and output interface 110, and anetwork interface 112. The bus 102 is a data transmission path throughwhich the processor 104, the memory 106, the storage device 108, theinput and output interface 110, and the network interface 112 mutuallytransmit and receive data. However, a method of connecting the processor104 and other elements to each other is not limited to bus connection.The processor 104 is an arithmetic processing unit configured with amicroprocessor or the like. The memory 106 is a memory configured with arandom access memory (RAM) or the like. The storage device 108 is astorage device configured with a read only memory (ROM), a flash memory,or the like.

The input and output interface 110 is an interface for connecting theintegrated circuit 100 to peripheral devices.

The network interface 112 is an interface for connecting the integratedcircuit 100 to a communication network. A controller area network (CAN),Ethernet, or the like is illustrated as a communication network, but thecommunication network is not limited thereto. Note that, the method bywhich the network interface 112 connects to the communication networkmay be a wireless connection or a wired connection.

The storage device 108 stores program modules for realizing functions ofthe control unit 204 and the sending unit 206. The processor 104realizes the functions of the control unit 204 and the sending unit 206by reading the program module into the memory 106 and executing it.

Note that, the hardware configuration of the integrated circuit 100 isnot limited to the configuration illustrated in FIG. 2 . For example,the program module may be stored in the memory 106. In this case, theintegrated circuit 100 may not include the storage device 108.

“Hardware Configuration of Measurement Unit 202”

FIG. 3 and FIG. 11 are diagrams illustrating a hardware configurationthat realizes the measurement unit 202. The measurement unit 202includes an irradiator 10, a computing unit 20, an irradiator drivingcircuit 30, and a receiver 50.

The irradiator 10 emits electromagnetic waves used for scanning. Theelectromagnetic waves emitted by the irradiator 10 may be light such asa laser beam or a radio wave such as a millimeter wave. The irradiator10 has a configuration in which the irradiation direction is variable,and can emit electromagnetic waves in various directions.

The irradiator driving circuit 30 is a circuit for driving theirradiator 10. In the present embodiment, the irradiator 10 irradiates apredetermined target region F with electromagnetic waves while movingthe vertical scanning line in the horizontal direction under the controlof the irradiator driving circuit 30 (see FIG. 4 ). That is, theirradiator 10 emits the electromagnetic waves so as to scan thepredetermined range, and as a result, the object present in thepredetermined range is scanned with the electromagnetic waves.

The receiver 50 receives the reflected wave of the electromagnetic wavesemitted to the outside of the measurement device 200. That is, thereceiver 50 receives the reflected wave of the electromagnetic waveemitted by the irradiator 10, which is reflected by the object existingaround the measurement device. As shown in FIG. 11 , the receiver 50 maybe configured to be driven to rotate similarly to the irradiator 10. Therotational driving of the receiver 50 is controlled by a driving circuit(not shown). Note that, the rotational driving of the irradiator 10 andthe rotational driving of the receiver 50 may be performed insynchronization with each other. In such a case, at the timing when theirradiator 10 faces a predetermined direction, the receiver 50 faces apredetermined direction corresponding to the direction. That is, bysynchronizing the rotational driving of the irradiator 10 with therotational driving of the receiver 50, even if the irradiation directionis changed in various directions by the irradiator 10, the receiver 50is capable of properly receiving the reflected wave. In addition, theirradiator 10 and the receiver 50 may be made of the same member(mirror).

The computing unit 20 computes the distance between the objectirradiated with the electromagnetic waves and the measurement device200, based on the signal received by the receiver 50. The computing unit20 is realized by any combination of hardware and software mainly on aCPU of any computer, a memory, a program loaded in the memory, a storagemedium such as a hard disk that stores the program, and a networkconnection interface. There are various modification examples of theimplementation method and apparatus. The computing unit 20 may berealized by the integrated circuit 100 that realizes the control unit204 and the sending unit 206.

Here, a hardware configuration of the measurement unit 202 in the casewhere the irradiator 10 emits light will be illustrated. The sameconfiguration can also be adopted for the measurement unit 202 in a casewhere the irradiator 10 emits electromagnetic waves.

FIG. 5 and FIG. 12 are diagrams illustrating a hardware configuration ofthe measurement unit 202 that emits light. A projector 12 and aprojector driving circuit 32 in FIGS. 5 and 12 are examples of theirradiator 10 and the irradiator driving circuit 30 in FIGS. 3 and 11 ,respectively. The projector 12 includes a light source 14 and a movablereflector 16. The projector driving circuit 32 includes a light sourcedriving circuit 34 and a movable-reflector driving circuit 36.

The light source 14 is any light source that emits light. The lightsource driving circuit 34 is a circuit for driving the light source 14by controlling the supply of electric power to the light source 14. Thelight emitted by the light source 14 is, for example, a laser beam. Inthis case, for example, the light source 14 is a semiconductor laserthat emits a laser beam.

The movable reflector 16 reflects the light emitted from the lightsource 14. The light reflected by the movable reflector 16 is emitted tothe outside of the measurement device 200. The movable-reflector drivingcircuit 36 is a circuit for driving the movable reflector 16. Forexample, the movable reflector 16 has one mirror configured to berotatable at least in two directions, the vertical direction and thehorizontal direction. The mirror is, for example, a micro electromechanical system (MEMS) mirror.

Note that, the configuration of the movable reflector 16 is not limitedto the configurations shown in FIGS. 5 and 12 . For example, the movablereflector 16 may be configured with two mirrors whose rotation axescross each other.

In FIGS. 5 and 12 , the measurement unit 202 includes a light receiver52. The light receiver 52 is an example of the receiver 50 in FIGS. 3and 11 . The light receiver 52 receives the reflected light of the lightemitted to the outside of the measurement device 200. For example, thelight receiver 52 has an avalanche photodiode (APD). As shown in FIG. 12, the light receiver 52 may be configured be driven to rotate similarlyto the movable reflector 16. The rotational driving of the lightreceiver 52 is controlled by a driving circuit (not shown). Note that,the rotational driving of the movable reflector 16 and the rotationaldriving of the light receiver 52 may be performed in synchronizationwith each other. In such a case, at the timing when the movablereflector 16 faces a predetermined direction, the light receiver 52faces a predetermined direction corresponding to the direction.

Note that, the configuration of the measurement unit 202 is not limitedto the configurations shown in FIGS. 3, 5, 11, and 12 . For example, inFIGS. 5 and 12 , the measurement unit 202 is configured to be able toemit light in various directions, by reflecting the light emitted fromthe light source 14 by the movable reflector 16. However, theconfiguration for emitting light in various directions is not limited tothe configurations shown in FIGS. 5 and 12 . For example, the lightsource 14 itself may have a mechanism that rotates in the verticaldirection and the horizontal direction. In this case, the measurementunit 202 can emit light in various directions by controlling the pose ofthe light source 14. In this case, the measurement unit 202 may not havethe movable reflector 16 and the movable-reflector driving circuit 36.In this case, the light source driving circuit 34 controls the attitudeof the light source 14 in addition to the light emission by the lightsource 14. As shown in FIG. 12 , in a case where the light receiver 52is configured to be driven to rotate, the control of the pose of thelight source 14 and the rotational driving of the light receiver 52 maybe performed in synchronization with each other.

Note that, the hardware (see FIG. 2 ) for realizing the control unit 204and the sending unit 206 and the hardware for realizing the measurementunit 202 (see FIGS. 3 and 5 ) may be packaged in one housing, or may bepackaged in separate housings.

“Installation Example of Measurement Device 200”

The measurement device 200 is installed to (in/on) a moving body such asa car or a train, for example. FIG. 6 is a diagram illustrating themeasurement device 200 installed to a moving body 240. In FIG. 6 , themeasurement device 200 is fixed to the upper part of the moving body240. Further, the measurement device 200 is connected to the controlapparatus 244 through a CAN communication network 242. Note that, theconnection through the CAN communication network 242 is just an example.The control apparatus 244 is a control apparatus that controls themoving body 240. For example, the control apparatus 244 is an electroniccontrol unit (ECU).

The measurement device 200 is installed such that the vertical directionin FIG. 4 is the height direction of the moving body 240 and thehorizontal direction in FIG. 4 is the width direction of the moving body240.

Here, the control unit 204 may be realized as a part of the controlapparatus 244 which controls the moving body 240. In this case, aprogram module for realizing the above-described control unit 204 isstored in the storage device of the control apparatus 244.

Note that, the place where the measurement device 200 is installed isnot limited to the upper portion of the moving body 240. For example,the measurement device 200 may be installed inside (for example,indoors) the moving body 240.

<Function>

Next, the functions of the functional configuration units shown in FIG.1 will be described in detail.

“Functions of Measurement Unit 202 and Control Unit 204”

The measurement unit 202 performs measurement by emittingelectromagnetic waves and scanning an object with the electromagneticwaves. For example, the measurement unit 202 scans a target area withthe electromagnetic waves, and computes the distance between the objectirradiated with the electromagnetic waves and the measurement device200. Then, the measurement unit 202 outputs the measurement resultincluding the position of the object irradiated with the electromagneticwaves in the target area, and the distance between the object and themeasurement device 200.

The measurement unit 202 is operable in a first scan mode in which theobject (in other words, an area to be scanned) is scanned in a firstdirection, or a second scan mode in which the object is scanned in asecond direction different from the first direction. The seconddirection may be opposite to the first direction. In a state where themeasurement device 200 is mounted to (on/in) the moving body, the firstdirection is, for example, a direction from the left to the right withrespect to the traveling direction of the moving body. In a state wherethe measurement device 200 is mounted to the moving body, the seconddirection is, for example, a direction from the right to the left withrespect to the traveling direction. And, the measurement unit 202performs vertical scanning in the height direction of the moving body.

Note that, the measurement unit 202 may also be operable in a third scanmode in which the object is scanned by performing a reciprocatingoperation in the first direction and the second direction.

That is, the measurement unit 202 is operable in any one or at least twoout of “first scan mode in which scanning is performed while moving thevertical scanning line in one direction from left to right”, “secondscan mode in which scanning is performed while moving the verticalscanning line in one direction from right to left”, and “third scan modein which scanning is performed while reciprocating the vertical scanningline in the left and right directions”. As examples in which themeasurement unit 202 is operable in a plurality of scan modes, anexample in which the measurement unit 202 is operable in the first tothird scan modes, an example in which the measurement unit 202 isoperable in the first and second scan modes, and the like areillustrated. The measurement device 200 is installed such that thevertical direction is the height direction of the moving body 240 andthe left and right directions are the width direction of the moving body240.

Here, the first to third scan modes will be described with reference toFIG. 4 . In FIG. 4 , the target area F is divided into a matrix shape.

In the first scan mode, for example, the column (1) positioned on theleftmost side is scanned in the vertical direction, and then the column(2), which is to the immediate right thereof, is scanned in the verticaldirection. Thereafter, the column (3), which is to the immediate rightthereof, the column (4), and the column (5) are scanned in the verticaldirection in this order while moving in the right direction one by one.Then, after the column (10) positioned on the rightmost side is scannedin the vertical direction, the process returns to the column (1) and thecolumn (1) is scanned in the vertical direction. Thereafter, the sameprocess is repeated. Note that, in FIG. 4 , the scanning in the verticaldirection is performed in a direction from top to bottom, but it may beperformed in a direction from bottom to top. Further, scanning in thedirection from top to bottom and scanning in the direction from bottomto top may be alternately performed one by one (for example, the column(1) is scanned in the direction from top to bottom and the column (2) isscanned in the direction from bottom to top).

In the second scan mode, for example, the column (10) positioned on therightmost side is scanned in the vertical direction, and then the column(9), which is to the immediate left thereof, is scanned in the verticaldirection. Thereafter, the column (8), which is to the immediate leftthereof, the column (7), and the column (6) are scanned in the verticaldirection in this order while moving in the left direction one by one.Then, after the column (1) positioned on the leftmost side is scanned inthe vertical direction, the process returns to the column (10) and thecolumn (10) is scanned in the vertical direction. Thereafter, the sameprocess is repeated. Note that, in FIG. 4 , the scanning in the verticaldirection is performed in a direction from top to bottom, but it may beperformed in a direction from bottom to top. Further, scanning in thedirection from top to bottom and scanning in the direction from bottomto top may be alternately performed one by one (for example, the column(10) is scanned in the direction from top to bottom and the column (9)is scanned in the direction from bottom to top).

In the third scan mode, for example, the column (1) positioned on theleftmost side is scanned in the vertical direction, and then the column(2), which is to the immediate right thereof, is scanned in the verticaldirection. Thereafter, the column (3), which is to the immediate rightthereof, the column (4), and the column (5) are scanned in the verticaldirection in this order while moving in the right direction one by one.Then, after the column (10) positioned on the rightmost side is scannedin the vertical direction, the column (10) is scanned again in thevertical direction. Next, the column (9), which is to the immediate leftthereof, is scanned in the vertical direction. Thereafter, the column(8), which is to the immediate left thereof, the column (7), and thecolumn (6) are scanned in the vertical direction in this order whilemoving in the left direction one by one. Then, after the column (1)positioned on the leftmost side is scanned in the vertical direction,the column (1) is scanned again in the vertical direction. Next, thecolumn (2), which is to the immediate right thereof, is scanned in thevertical direction. Thereafter, the column (3), which is to theimmediate right thereof, the column (4), and the column (5) are scannedin the vertical direction in this order while moving in the rightdirection one by one. Thereafter, the same process is repeated. Notethat, in FIG. 4 , the scanning in the vertical direction is performed ina direction from top to bottom, but it may be performed in a directionfrom bottom to top. Further, scanning in the direction from top tobottom and scanning in the direction from bottom to top may bealternately performed one by one (for example, the column (1) is scannedin the direction from top to bottom and the column (2) is scanned in thedirection from bottom to top).

In a case where the measurement unit 202 is operable in a plurality ofscan modes, the control unit 204 determines “a scan mode to be executedby the measurement unit 202”.

The control unit 204 can determine the scan mode, based on the movingstate of the moving body. As an example, the control unit 204 candetermine the scan mode, based on the steering signal of the steeringwheel of the moving body 240. Note that, “determining the scan mode” inthis specification can be rephrased as “determining the direction inwhich the measurement unit 202 scans the object.”

The control unit 204 can acquire a steering signal of the steeringwheel, from, for example, an electronic control apparatus that acquiressensor signals from sensors installed at various positions of the movingbody 240. A specific example of the determination process based on thesteering signal of the steering wheel of the moving body 240 will bedescribed below.

—In a Case where the Measurement Unit 202 is Operable in the First toThird Scan Modes—

In a case where the steering wheel is turned to the left by a firstpredetermined angle or more (the first state), the control unit 204 maydetermine the scan mode to be executed by the measurement unit 202 asthe first scan mode. Further, in a case where the steering wheel isturned to the right by the first predetermined angle or more (the secondstate), the control unit 204 may determine the scan mode to be executedby the measurement unit 202 as the second scan mode. Further, in a casewhere the steering angle of the steering wheel is the other (the thirdstate), the control unit 204 may determine the scan mode to be executedby the measurement unit 202 as the third scan mode. That is, in a casewhere it is predicted that the vehicle is travelling substantiallystraight, the scan mode to be executed by the measurement unit 202 maybe determined as the third scan mode.

—In a Case where the Measurement Unit 202 is Operable in the First andSecond Scan Modes—

In a case where the steering wheel is turned to the left by a firstpredetermined angle or more (the first state), the control unit 204 maydetermine the scan mode to be executed by the measurement unit 202 asthe first scan mode. Further, in a case where the steering wheel isturned to the right by the first predetermined angle or more (the secondstate), the control unit 204 may determine the scan mode to be executedby the measurement unit 202 as the second scan mode.

Further, in a case where the steering angle of the steering wheel is theother (the third state), the control unit 204 may determine the scanmode to be executed by the measurement unit 202 as the first or secondscan mode. For example, a scan mode (first or second scan mode)determined as the scan mode to be executed by the measurement unit 202in the third state may be determined in advance. Then, the control unit204 may make a determination as a predetermined scan mode, in the thirdstate.

In addition, the control unit 204 may determine the scan mode in thethird state, according to the state (the first state or the secondstate) immediately before the third state is reached. For example, in acase where the state changes from the first state to the third state,the control unit 204 may determine the scan mode to be executed by themeasurement unit 202 as the first scan mode, in the third state. Then,in a case where the state changes from the second state to the thirdstate, the control unit 204 may determine the scan mode to be executedby the measurement unit 202 as the second scan mode, in the third state.

As another example, the control unit 204 can determine the scan mode,based on the planned travel route of the moving body 230.

For example, the control unit 204 acquires a planned travel route fromthe car navigation system. The car navigation system computes a routefrom the current position to the destination, based on the currentposition of the moving body 230 and the destination input by the user.The car navigation system may compute a plurality of routes and receivean input to select one among them from the user. The car navigationsystem transmits the finally determined route (planned travel route) tothe control unit 204. A specific example of the determination processbased on the planned travel route of the moving body 240 will bedescribed below.

—In a Case where the Measurement Unit 202 is Operable in the First toThird Scan Modes—

In a case where it is predicted that the steering wheel of the movingbody 240 is turned to the left by a second predetermined angle or morewithin a predetermined traveling distance from the current position,based on the planned travel route (first′ state), the control unit 204may determine the scan mode to be executed by the measurement unit 202as the first scan mode. In a case where it is predicted that thesteering wheel of the moving body 240 is turned to the right by a secondpredetermined angle or more within a predetermined traveling distancefrom the current position, based on the planned travel route (second′state), the control unit 204 may determine the scan mode to be executedby the measurement unit 202 as the second scan mode. In a case where itis not predicted that the steering wheel of the moving body 240 isturned to the left or be turned to the right by a second predeterminedangle or more within a predetermined traveling distance from the currentposition, based on the planned travel route (third′ state), the controlunit 204 may determine the scan mode to be executed by the measurementunit 202 as the third scan mode. That is, in a case where it ispredicted that a vehicle travels substantially straight within apredetermined traveling distance (or a predetermined time), based on theplanned travel route, the control unit may determine the scan mode to beexecuted by the measurement unit 202 as the third scan mode.

For example, in a case where there is a left turn by a thirdpredetermined angle or more within a predetermined traveling distancefrom the current position, on the planned travel route, the control unit204 may predict that “the steering wheel of the moving body 240 isturned to the left by a second predetermined angle or more within apredetermined traveling distance from the current position”. Further, ina case where there is a right turn by a third predetermined angle ormore within a predetermined traveling distance from the currentposition, on the planned travel route, the control unit 204 may predictthat “the steering wheel of the moving body 240 is turned to the rightby a second predetermined angle or more within a predetermined travelingdistance from the current position”. Further, in a case where there isno left turn or right turn by a third predetermined angle or more withina predetermined traveling distance from the current position, on theplanned travel route, the control unit 204 may predict that “thesteering wheel of the moving body 240 will not be turned to the left orright by a second predetermined angle or more within a predeterminedtraveling distance from the current position”.

—In a Case where the Measurement Unit 202 is Operable in the First andSecond Scan Modes—

In a case where it is predicted that the steering wheel of the movingbody 240 is turned to the left by a second predetermined angle or morewithin a predetermined traveling distance from the current position,based on the planned travel route (first′ state), the control unit 204may determine the scan mode to be executed by the measurement unit 202as the first scan mode. In a case where it is predicted that thesteering wheel of the moving body 240 is turned to the right by a secondpredetermined angle or more within a predetermined traveling distancefrom the current position, based on the planned travel route (second′state), the control unit 204 may determine the scan mode to be executedby the measurement unit 202 as the second scan mode.

In a case where it is not predicted that the steering wheel of themoving body 240 is turned to the left or be turned to the right by asecond predetermined angle or more within a predetermined travelingdistance from the current position, based on the planned travel route(third′ state), the control unit 204 may determine the scan mode to beexecuted by the measurement unit 202 as the first or second scan mode.For example, a scan mode (first or second scan mode) determined in thethird′ state may be determined in advance. Then, the control unit 204may determine a predetermined scan mode, in the third′ state.

In addition, the control unit 204 may determine the scan mode in thethird′ state, according to the state (the first′ state or the second′state) immediately before the third′ state is reached. For example, in acase where the state changes from the first′ state to the third′ state,the control unit 204 may determine the scan mode to be executed by themeasurement unit 202 as the first scan mode, in the third′ state. Then,in a case where the state changes from the second′ state to the third′state, the control unit 204 may determine the scan mode to be executedby the measurement unit 202 as the second scan mode, in the third′state.

In addition, the control unit 204 may determine the scan mode to beexecuted by the measurement unit 202, based on a signal indicating thestate of a direction indicator such as the turn signal of the movingbody 240. In a case where the measurement unit 202 is operable in thefirst to third scan modes, the control unit 204 can make a determinationas the first scan mode when the turn signal indicates a left turn, asthe second scan mode when the turn signal indicates a right turn, and asthe third scan mode when the turn signal does not indicate either a leftturn or right turn. Further, in a case where the measurement unit 202 isoperable in the first and second scan modes, the control unit 204 canmake a determination as the first scan mode when the turn signalindicates a left turn, as the second scan mode when the turn signalindicates a right turn, and as the first mode or second mode when theturn signal does not indicate either a left turn or right turn (forexample, in the same manner as above). Note that, when determining thescan mode in this manner, only when the turn signal continuouslyindicates the direction for a predetermined time or more, the scan modecorresponding to the direction may be determined.

In addition, the control unit 204 may detect that the steering wheel isturned to the left or right by a predetermined level (angle) or more,based on the image of the exterior surroundings of the moving body 240captured by a camera attached to the moving body 240. Then, the controlunit 204 may determine the scan mode to be executed by the measurementunit 202, based on the detection result. In a case where the measurementunit 202 is operable in the first to third scan modes, the control unit204 can make a determination as the first scan mode when the steeringwheel is turned to the left by a predetermined level (angle) or more, asthe second scan mode when the steering wheel is turned to the right by apredetermined level (angle) or more, and as the third mode in othercases. Further, in a case where the measurement unit 202 is operable inthe first and second scan modes, the control unit 204 can make adetermination as the first scan mode when the steering wheel is turnedto the left by a predetermined level (angle) or more, as the second scanmode when the steering wheel is turned to the right by a predeterminedlevel (angle) or more, and as the first mode or the second mode in othercases (for example, makes a determination in the same manner as theabove). Further, the control unit 204 may determine the scan mode to beexecuted by the measurement unit 202, based on the detection results ofa sensor (for example, a gyro sensor, an acceleration sensor, or a tiltsensor) other than the camera.

There is no particular limitation on a method of detecting that thesteering wheel is turned to the right and left by a predetermined level(angle) or more based on the image. For example, by analyzing aplurality of frame images, it may be detected that the camera is swungto the left or right by a predetermined level or more. In a case wherethe camera is swung to the left by a predetermined level or more, it maybe detected that the steering wheel is turned to the left by apredetermined level (angle) or more, and in a case where the camera isswung to the right by a predetermined level or more, it may be detectedthat the steering wheel is turned to the right by a predetermined level(angle) or more.

Note that, the control unit 204 may be operable in a plurality ofdetermination modes for determining the scan mode based on each of aplurality of signals. For example, the control unit 204 may be operablein a first determination mode in which the scan mode is determined basedon the steering signal of the steering wheel of the moving body 240 andin a second determination mode in which the scan mode is determinedbased on the planned travel route of the moving body 240. Then, thecontrol unit 204 may switch the determination mode according to thetraveling speed of the moving body 240.

For example, the control unit 204 may select the second determinationmode in a case where the traveling speed of the moving body 240 is thefirst predetermined value or more, and select the first determinationmode in a case where the traveling speed of the moving body 240 is lessthan the first predetermined value.

In addition, in a case where the traveling speed of the moving body 240is less than the second predetermined value, the control unit 204 mayfix the scan mode to be executed by the measurement unit 202 in one scanmode. Then, in a case where the traveling speed of the moving body 240is the second predetermined value or more, the scan mode to be executedby the measurement unit 202 may be determined from among a plurality ofthe scan modes, based on a steering signal of the steering wheel of themoving body 240 or a planned travel route of the moving body 240.

The control unit 204 can acquire the traveling speed of the moving body240, from, for example, an electronic control apparatus that acquiressensor signals from sensors installed at various positions of the movingbody 240.

“Functions of Sending Unit 206 and Control Unit 204”

The sending unit 206 sends the measurement result (including theposition of the object irradiated with the electromagnetic waves in thetarget area, and the distance between the object and the measurementdevice 200) output by the measurement unit 202, to the data processingunit 300. The sending unit 206 may send (output) data indicating theintensity of the reflected wave received by the receiver 50 to the dataprocessing unit 300, as the measurement result output by the measurementunit 202. The data indicating the intensity of the reflected wave may bepoint group data indicating the intensity of the reflected wave of eacharea (for example, each mesh in FIG. 4 ) constituting one frame.

The sending unit 206 is operable in a first sending mode in which “aftera measurement result of an entire one frame is acquired, the measurementresult of the entire one frame is sent”, or a second sending mode inwhich “before a measurement result of an entire one frame is acquired,the measurement result of a part of the one frame is sent”. Note that,the sending unit 206 may be operable in both the first sending mode andthe second sending mode, or may be operable in only one of them.

Here, the first and second sending modes will be described withreference to FIG. 4 . The measurement unit 202 performs scanning whilemoving the vertical scanning line in the horizontal direction. Then, themeasurement unit 202 processes the reception signal received by thereceiver 50 in the reception order, and computes the distance(measurement result) between the object irradiated with theelectromagnetic waves and the measurement device 200. Therefore, themeasurement results are computed in the order of scanning. For example,in a case where scanning in the vertical direction is performed in theorder of the column (1), the column (2), the column (3), and . . . shownin FIG. 4 , the measurement result is computed in this order.

In the first sending mode, after the measurement results of one frame(the measurement results of the columns (1) to (10) in the example ofFIG. 4 ) are computed, the sending unit 206 sends the measurementresults to the data processing unit 300.

In the second sending mode, before the measurement results of one frame(the measurement results of the columns (1) to (10) in the example ofFIG. 4 ) are computed, the sending unit 206 sends a part of themeasurement results computed so far, to the data processing unit 300.Then, the remaining measurement results are sent to the data processingunit 300 thereafter. For example, the measurement results of the columns(1) to (5) in the example of FIG. 4 are sent first, and then themeasurement results of the remaining columns (6) to (10) are sent.

That is, in the first sending mode, the sending unit 206 sends themeasurement results (measurement data) after a predetermined amount(point group data for one frame) of measurement data acquired by themeasurement unit 202 is accumulated. Then, in the second sending mode,the sending unit 206 sends the measurement results (measurement data),before the predetermined amount of measurement data acquired by themeasurement unit 202 is accumulated.

Note that, here, the example of sending the measurement results in twosteps of the first half and the second half has been described, but themeasurement results may be divided into parts of the other number.Further, the number of data items (for example: the number of columns)to be sent at each time may be equal or different.

In a case where the sending unit 206 is operable in a plurality ofsending modes, the control unit 204 determines “sending mode to beexecuted by the sending unit 206”.

As an example, the control unit 204 may determine a sending mode to beexecuted by the sending unit 206, based on the steering signal of thesteering wheel of the moving body 240. For example, in a case where “thesteering wheel of the moving body 240 is turned to the left by a fourthpredetermined angle or more” or “the steering wheel of the moving body240 is turned to the right by a fourth predetermined angle or more” issatisfied, the control unit 204 may determine the sending mode to beexecuted by the sending unit 206 as the second sending mode. In othercases, the control unit 204 may determine the sending mode to beexecuted by the sending unit 206 as the first sending mode.

As another example, the control unit 204 may determine the sending modeto be executed by the sending unit 206, based on the steering signal ofthe steering wheel of the moving body 240 and the traveling speed of themoving body 240. For example, in a case where “the steering wheel of themoving body 240 is turned to the left by a fifth predetermined angle ormore and the moving speed of the moving body 240 is a thirdpredetermined value or more” or “the steering wheel of the moving body240 is turned to the right by a fifth predetermined angle or more andthe moving speed of the moving body 240 is a third predetermined valueor more” is satisfied, the control unit 204 may determine the sendingmode to be executed by the sending unit 206 as the second sending mode.In other cases, the control unit 204 may determine the sending mode tobe executed by the sending unit 206 as the first sending mode.

As another example, the control unit 204 may determine the sending modeto be executed by the sending unit 206, based on the planned travelroute of the moving body 240. For example, in a case where “it ispredicted that the steering wheel of the moving body 240 is turned tothe left by a sixth predetermined angle or more within a predeterminedtraveling distance from the current position, based on the plannedtravel route”, or “it is predicted that the steering wheel of the movingbody 240 is turned to the right by a sixth predetermined angle or morewithin a predetermined traveling distance from the current position,based on the planned travel route” is satisfied, the control unit 204may determine the sending mode to be executed by the sending unit 206 asthe second sending mode. In other cases, the control unit 204 maydetermine the sending mode to be executed by the sending unit 206 as thefirst sending mode.

As another example, the control unit 204 may determine the sending modeto be executed by the sending unit 206, based on the planned travelroute of the moving body 240, and the traveling speed of the moving body240. For example, in a case where “it is predicted based on the plannedtravel route that the steering wheel of the moving body 240 is turned tothe left by a seventh predetermined angle or more within a predeterminedtraveling distance from the current position, and the moving speed ofthe moving body 240 is a fourth predetermined value or more”, or “it ispredicted based on the planned travel route that the steering wheel ofthe moving body 240 is turned to the right by a seventh predeterminedangle or more within a predetermined traveling distance from the currentposition, and the moving speed of the moving body 240 is a fourthpredetermined value or more” is satisfied, the control unit 204 maydetermine the sending mode to be executed by the sending unit 206 as thesecond sending mode. In other cases, the control unit 204 may determinethe sending mode to be executed by the sending unit 206 as the firstsending mode.

As another example, the control unit 204 may determine the sending modeto be executed by the sending unit 206, based on the traveling speed ofthe moving body 240. For example, in a case where the moving speed ofthe moving body 240 is a fifth predetermined value or more, the controlunit 204 may determine the sending mode to be executed by the sendingunit 206 as the second sending mode. In other cases, the control unit204 may determine the sending mode to be executed by the sending unit206 as the first sending mode.

As another example, the control unit 204 may determine the sending modeto be executed by the sending unit 206, based on an image of theexterior surroundings of the moving body 240 captured by a cameraattached to the moving body 240. For example, in a case where “detectingthat the steering wheel is turned to the left by a predetermined level(angle) or more” or “detecting that the steering wheel is turned to theright by a predetermined level (angle) or more” is satisfied, thecontrol unit 204 may determine the sending mode to be executed by thesending unit 206 as the second sending mode. In other cases, the controlunit 204 may determine the sending mode to be executed by the sendingunit 206 as the first sending mode.

As another example, the control unit 204 may determine the sending modeto be executed by the sending unit 206, based on an image of theexterior surroundings of the moving body 240 captured by a cameraattached to the moving body 240, and the traveling speed of the movingbody 240. For example, in a case where “detecting that the steeringwheel is turned to the right by a predetermined level (angle) or moreand the moving speed of the moving body 240 is a predetermined value ormore” or “detecting that the steering wheel is turned to the left by apredetermined level (angle) or more and the moving speed of the movingbody 240 is a predetermined value or more” is satisfied, the controlunit 204 may determine the sending mode to be executed by the sendingunit 206 as the second sending mode. In other cases, the control unit204 may determine the sending mode to be executed by the sending unit206 as the first sending mode.

Note that, the first to seventh predetermined angles may be the samevalue or different values. Further, the first to fifth predeterminedvalues may be the same value or different values. Further, with respectto the first to seventh predetermined angles and the first to fifthpredetermined values, appropriate values may be set by experiment,simulation or the like in advance, for the purpose of detecting afeature, an obstacle, or the like in the vicinity of the moving body.

Here, a modification example will be described. In the above-describedembodiment, in the second sending mode, before the measurement resultsof one frame are acquired, the sending unit 206 sends the measurementresults of a part of one frame, acquired so far, (for example, themeasurement results of the columns (1) to (5) in the example of FIG. 4 )to the data processing unit 300, and then sends the remainingmeasurement results (for example, the measurement results of the columns(6) to (10) in the example of FIG. 4 ) to the data processing unit 300.

As a modification example, in the second sending mode, the remainingmeasurement results (for example, the measurement results of the columns(6) to (10) in the example of FIG. 4 ) may not be sent to the dataprocessing unit 300. In such a case, the control unit 204 controls themeasurement unit 202 so as to repeatedly scan only a part of one frame(for example, the columns (1) to (5) in the example of FIG. 4 ) andperform measurement.

That is, in the modification example, in the second sending mode, themeasurement unit 202 measures the measurement results of a part of oneframe (for example, the measurement results of the columns (1) to (5) inthe example of FIG. 4 ), and does not measure the measurement results ofthe remaining part of one frame (for example, the measurement results ofthe columns (6) to (10) in the example of FIG. 4 ). Then, the sendingunit 206 sends the measurement results of a part of one frame (forexample, the measurement results of the columns (1) to (5) in theexample of FIG. 4 ), and does not send the measurement results of theremaining part of one frame (for example, the measurement results of thecolumns (6) to (10) in the example of FIG. 4 ).

As another example, the control unit 204 can determine at least one ofthe scan mode and the sending mode, based on the current position of themoving body 230 or the like.

The measurement device 200 may include a map information acquisitionunit that acquires map information from, for example, a car navigationsystem, a map distribution server (not shown), or the like. The mapinformation includes information on features, and other trafficinformation. The information on the feature includes informationindicating the position of the feature, information indicating theattribute of the feature, and the like. Further, the traffic informationincludes information indicating the locations of accident-prone spotsand areas, other spots or areas requiring special attention when adriver drives (such as spots into which pedestrians are likely to runout such as school zones, intersections with poor visibility, and spotswhere it is likely to be blind spots of a driver).

Further, the measurement device 200 may include a current positionacquisition unit that acquires information on the current position ofthe moving body. The current position acquisition unit may acquireinformation on the current position from a GPS-receiving apparatus (notshown) or the above-described car navigation system. Note that, theinformation on the current position in the present embodiment may be thecurrent position information of the moving body or the current positioninformation of the measurement device itself.

Further, the measurement device 200 may include a traveling directionacquisition unit that acquires information on a traveling direction ofthe moving body. The traveling direction acquisition unit may acquirethe information on the traveling direction, from the car navigationapparatus described above, or by recognizing or estimating the travelingdirection of the moving body from another sensor or the like (forexample, a speed sensor, an acceleration sensor, or the like).

The control unit 204 determines at least one of the scan mode and thesending mode, based on the information acquired by the map informationacquisition unit, the current position acquisition unit, and thetraveling direction acquisition unit.

Specifically, in a case where it can be determined or inferred that forexample, a spot or an area requiring drivers of special attention suchas accident-prone spot is located on the left side with respect to thetraveling direction, based on the map information and the currentposition (and the traveling direction), the control unit 204 controlsthe measurement device 200 so as to operate in the first scan mode.Further, in this case, the control unit 204 controls the measurementdevice 200 so as to operate in the second sending mode.

On the other hand, in a case where it can be determined or inferred thatfor example, an accident-prone spot or the like is located on the rightside with respect to the traveling direction, based on the mapinformation and the current position (and the traveling direction), thecontrol unit 204 controls the measurement device 200 so as to operate inthe second scan mode. Further, in this case, the control unit 204controls the measurement device 200 so as to operate in the secondsending mode.

Further, in a case where it can be determined or inferred that forexample, an accident-prone spot or the like is not present around themoving body (within a predetermined range from the current position)based on the map information and the current position (and the travelingdirection), the control unit 204 controls the measurement device 200 soas to operate in the third scan mode. Further, in this case, the controlunit 204 controls the measurement device 200 so as to operate in thefirst sending mode.

By causing the measurement device to operate like this, objects (such asother vehicles, pedestrians, or other obstacles) positioned in spots orareas where drivers should pay special attention such as accident-pronespots can be detected quickly. Further, in cases other than traveling ina place requiring special attention, it is possible to reduce theoperation amount of the irradiator and to reduce the time taken to shiftto the next frame during scanning.

<<Example of Measurement Device>>

Next, an example of the measurement device 200 of the present embodimentwill be illustrated. Note that, the measurement device 200 of thepresent embodiment is not limited to the example.

Example 1

In the present example, the measurement unit 202 is operable in thefirst to third scan modes. Further, the sending unit 206 is operable inthe first and second sending modes. Then, the control unit 204determines the scan mode and the sending mode, based on the steeringsignal of the steering wheel of the moving body 240.

The flowchart of FIG. 7 shows an example of the flow of a process of themeasurement device 200 of the present example. For example, the processstarts in response to engine start of the moving body 240 or the like.

In S10, the control unit 204 acquires the steering signal of thesteering wheel. The control unit 204 determines the state of thesteering angle of the steering wheel (S11).

In a case where the steering wheel is turned to the left by apredetermined angle or more (S11), the control unit 204 makes adetermination as the first scan mode and the second sending mode (S12).

Then, the measurement unit 202 executes the first scan mode, and thesending unit 206 executes the second sending mode. That is, themeasurement unit 202 performs scan while moving the vertical scanningline in one direction from the left to the right. Before the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of a part of one frame. Then, the sending unit206 sends the remaining measurement results of the frame thereafter.

In a case where the steering wheel is turned to the right by apredetermined angle or more (S11), the control unit 204 makes adetermination as the second scan mode and the second sending mode (S14).

Then, the measurement unit 202 executes the second scan mode, and thesending unit 206 executes the second sending mode. That is, themeasurement unit 202 performs scan while moving the vertical scanningline in one direction from the right to the left. Before the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of a part of one frame. Then, the sending unit206 sends the remaining measurement results of the frame thereafter.

In a case where the steering angle of the steering wheel is the other(S11), the control unit 204 makes a determination as the third scan modeand the first sending mode (S13).

Then, the measurement unit 202 executes the third scan mode, and thesending unit 206 executes the first sending mode. That is, themeasurement unit 202 performs scan while reciprocating the verticalscanning line in the left and right directions. After the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of the entire one frame.

Thereafter, the process is repeated until a signal for terminating theprocess (for example: a signal indicating the engine stop of the movingbody 240) is detected.

According to the example, at the time of turning right, the verticalscanning line can be moved in one direction from the right to the left.Therefore, measurement results are acquired in order from the right sideas viewed from the moving body 240. In the case of the example, a partof the measurement results can be sent without waiting for themeasurement results of the entire one frame to send. According to suchan example, at the time of turning right, an object positioned on theright side of the moving body 240 can be detected quickly.

Further, according to the example, at the time of turning left, thevertical scanning line can be moved in one direction from the left tothe right. Therefore, measurement results are acquired in order from theleft side as viewed from the moving body 240. In the case of theexample, a part of the measurement results can be sent without waitingfor the measurement results of the entire one frame to send. Accordingto such an example, at the time of turning left, an object positioned onthe left side of the moving body 240 can be detected quickly.

Further, according to the example, in a case where it is not a rightturn or a left turn (for example, during traveling straight), and in acase where there is no urgency to “quickly detect right-hand objects orleft-hand objects”, the vertical scanning line can be reciprocated inthe left and right directions. In this case, compared to the other scanmodes, it is possible to reduce the operation amount of the irradiator10 (the movable reflector 16 and the light source 14) when shifting fromany frame to the next frame. Due to this, the waiting time therebetweencan be reduced.

In the case of the first scan mode, after performing the scanning of thecolumn (10) of FIG. 4 , it is necessary to operate the irradiator 10 inorder to perform the scanning of the column (1). In the case of thesecond scan mode, after performing the scanning of the column (1) ofFIG. 4 , it is necessary to operate the irradiator 10 in order toperform the scanning of the column (10). In the case of the third scanmode, such a large operation is unnecessary.

A modification example of the example will be described. The measurementunit 202 is operable in the first and second scan modes, and may notoperate in the third scan mode. Then, the control unit 204 may make adetermination as the first scan mode or the second scan mode instead ofthe third scan mode in S13. In this case as well, the same advantageouseffect can be realized.

In addition, the control unit 204 may acquire the image of the exteriorsurroundings of the moving body 240 captured by a camera attached to themoving body 240, instead of the steering signal of the steering wheel.Then, the control unit 204 may analyze the image and detect that thesteering wheel of the moving body 240 is turned to the left or right bya predetermined level (angle) or more. Then, the first scan mode and thesecond sending mode may be determined when the steering wheel of themoving body 240 is turned to the left by a predetermined level (angle)or more, the second scan mode and the second sending mode may bedetermined when the steering wheel of the moving body 240 is turned tothe right by a predetermined level (angle) or more, and the third scanmode and the first sending mode may be determined in other cases.

Example 2

In the present example, the measurement unit 202 is operable in thefirst to third scan modes. Further, the sending unit 206 is operable inthe first and second sending modes. Then, the control unit 204determines the scan mode and the sending mode, based on the plannedtravel route of the moving body 240.

The flowchart of FIG. 8 shows an example of the flow of the process ofthe measurement device 200 of the present example. For example, theprocess starts in response to engine start of the moving body 240 or thelike.

In S20, the control unit 204 acquires the planned travel route of themoving body 240. Then, the control unit 204 predicts the state of thesteering angle of the steering wheel, based on the planned travel route(S21).

In a case where it is predicted that the steering wheel of the movingbody 240 is turned to the left by a predetermined angle or more within apredetermined traveling distance from the current position (S21), thecontrol unit 204 makes a determination as the first scan mode and thesecond sending mode (S22).

Then, the measurement unit 202 executes the first scan mode, and thesending unit 206 executes the second sending mode. That is, themeasurement unit 202 performs scan while moving the vertical scanningline in one direction from the left to the right. Before the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of a part of one frame. Then, the sending unit206 sends the remaining measurement results of the frame thereafter.

In a case where it is predicted that the steering wheel of the movingbody 240 is turned to the right by a predetermined angle or more withina predetermined traveling distance from the current position (S21), thecontrol unit 204 makes a determination as the second scan mode and thesecond sending mode (S24).

Then, the measurement unit 202 executes the second scan mode, and thesending unit 206 executes the second sending mode. That is, themeasurement unit 202 performs scan while moving the vertical scanningline in one direction from the right to the left. Before the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of a part of one frame. Then, the sending unit206 sends the remaining measurement results of the frame thereafter.

In a case where it is not predicted that the steering wheel of themoving body 240 is turned to the right or be turned to the left by apredetermined angle or more within a predetermined traveling distancefrom the current position (S21), the control unit 204 makes adetermination as the third scan mode and the first sending mode (S23).

Then, the measurement unit 202 executes the third scan mode, and thesending unit 206 executes the first sending mode. That is, themeasurement unit 202 performs scan while reciprocating the verticalscanning line in the left and right directions. After the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of the entire one frame.

Thereafter, the process is repeated until a signal for terminating theprocess (for example: a signal indicating the engine stop of the movingbody 240) is detected.

In the example as well, the same advantageous effect as Example 1 isrealized. Further, if the scan mode and the sending mode are switchedaccording to the steering signal of the steering wheel, there is aconcern of delay in detection of a right-hand object at the time ofturning right or detection of a left-hand object at the time of turningleft. According to the example in which the steering angle of thesteering wheel is predicted based on the planned travel route and thescan mode and the sending mode are switched according to the predictionresults, it is possible to perform switching to an appropriate modebefore the timing of turning the steering wheel to turn right or to turnleft. As a result, the inconvenience can be mitigated.

A modification example of the example will be described. The measurementunit 202 is operable in the first and second scan modes, and may notoperate in the third scan mode. Then, the control unit 204 may make adetermination as the first scan mode or the second scan mode instead ofthe third scan mode in S23. In this case as well, the same advantageouseffect can be realized.

Example 3

In the present example, the measurement unit 202 is operable in thefirst to third scan modes. Further, the sending unit 206 is operable inthe first and second sending modes. Then, the control unit 204determines the scan mode and the sending mode, based on the steeringsignal of the steering wheel of the moving body 240 and the travelingspeed.

The flowchart of FIG. 9 shows an example of the flow of the process ofthe measurement device 200 of the present example. For example, theprocess starts in response to engine start of the moving body 240 or thelike.

In S30, the control unit 204 acquires the traveling speed of the movingbody 240 and determines whether the traveling speed is a predeterminedvalue or more.

In a case where the traveling speed is less than a predetermined value(No in S30), the control unit 204 makes a determination as the thirdscan mode and the first sending mode (S31).

Then, the measurement unit 202 executes the third scan mode, and thesending unit 206 executes the first sending mode. That is, themeasurement unit 202 performs scan while reciprocating the verticalscanning line in the left and right directions. After the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of the entire one frame.

In a case where the traveling speed is a predetermined value or more(Yes in S30), the process proceeds to S32. In S32, the control unit 204acquires the steering signal of the steering wheel. The control unit 204determines the state of the steering angle of the steering wheel (S33).

In a case where the steering wheel is turned to the left by apredetermined angle or more (S33), the control unit 204 makes adetermination as the first scan mode and the second sending mode (S34).

Then, the measurement unit 202 executes the first scan mode, and thesending unit 206 executes the second sending mode. That is, themeasurement unit 202 performs scan while moving the vertical scanningline in one direction from the left to the right. Before the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of a part of one frame. Then, the sending unit206 sends the remaining measurement results of the frame thereafter.

In a case where the steering wheel is turned to the right by apredetermined angle or more (S33), the control unit 204 makes adetermination as the second scan mode and the second sending mode (S36).

Then, the measurement unit 202 executes the second scan mode, and thesending unit 206 executes the second sending mode. That is, themeasurement unit 202 performs scan while moving the vertical scanningline in one direction from the right to the left. Before the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of a part of one frame. Then, the sending unit206 sends the remaining measurement results of the frame thereafter.

In a case where the steering angle of the steering wheel is the other(S33), the control unit 204 makes a determination as the third scan modeand the first sending mode (S35).

Then, the measurement unit 202 executes the third scan mode, and thesending unit 206 executes the first sending mode. That is, themeasurement unit 202 performs scan while reciprocating the verticalscanning line in the left and right directions. After the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of the entire one frame.

Thereafter, the process is repeated until a signal for terminating theprocess (for example: a signal indicating the engine stop of the movingbody 240) is detected.

According to the example, in a case where the traveling speed of themoving body 240 is a high speed of a predetermined value or more and themoving body 240 turns to the right, the vertical scanning line can bemoved in one direction from the right to the left. Therefore,measurement results are acquired in order from the right side as viewedfrom the moving body 240. In the case of the example, a part of themeasurement results can be sent without waiting for the measurementresults of the entire one frame to send. According to such an example,in a case where the traveling speed of the moving body 240 is a highspeed of a predetermined value or more and the moving body 240 is turnedto the right, an object positioned on the right side of the moving body240 can be detected quickly.

Further, according to the example, in a case where the traveling speedof the moving body 240 is a high speed of a predetermined value or moreand the moving body 240 is turned to the left, the vertical scanningline can be moved in one direction from the left to the right.Therefore, measurement results are acquired in order from the left sideas viewed from the moving body 240. In the case of the example, a partof the measurement results can be sent without waiting for themeasurement results of the entire one frame to send. According to suchan example, in a case where the traveling speed of the moving body 240is a high speed of a predetermined value or more and the moving body 240is turned to the left, an object positioned on the left side of themoving body 240 can be detected quickly.

Further, according to the example, in a case where the traveling speedof the moving body 240 is a low speed less than the predetermined value,or in a case where the traveling speed of the moving body 240 is a highspeed of a predetermined value or more but it is not a right turn or aleft turn (for example, during traveling straight), that is, there is nourgency to “quickly detect right-hand objects or left-hand objects”, thevertical scanning line can be reciprocated in the left and rightdirections. In this case, compared to the other scan modes, it ispossible to reduce the operation amount of the irradiator 10 (themovable reflector 16 and the light source 14) when shifting from anyframe to the next frame. Due to this, the waiting time therebetween canbe reduced.

A modification example of the example will be described. The measurementunit 202 is operable in the first and second scan modes, and may notoperate in the third scan mode. Then, the control unit 204 may make adetermination as the first scan mode or the second scan mode instead ofthe third scan mode in S31 and S35. In this case as well, the sameadvantageous effect can be realized.

In addition, the control unit 204 may acquire the image of the exteriorsurroundings of the moving body 240 captured by a camera attached to themoving body 240, instead of the steering signal of the steering wheel.Then, the control unit 204 may analyze the image and detect that thesteering wheel of the moving body 240 is turned to the left or right bya predetermined level (angle) or more. Then, the first scan mode and thesecond sending mode may be determined when the steering wheel of themoving body 240 is turned to the left by a predetermined level (angle)or more, the second scan mode and the second sending mode may bedetermined when the steering wheel of the moving body 240 is turned tothe right by a predetermined level (angle) or more, and the third scanmode and the first sending mode may be determined in other cases.

Example 4

In the present example, the measurement unit 202 is operable in thefirst to third scan modes. Further, the sending unit 206 is operable inthe first and second sending modes. Then, the control unit 204determines the scan mode and the sending mode, based on the plannedtravel route of the moving body 240 and the traveling speed.

The flowchart of FIG. 10 shows an example of the flow of the process ofthe measurement device 200 of the present example. For example, theprocess starts in response to engine start of the moving body 240 or thelike.

In S40, the control unit 204 acquires the planned travel route of themoving body 240. In S41, the control unit 204 acquires the travelingspeed of the moving body 240 and determines whether the traveling speedis a predetermined value or more.

In a case where the traveling speed is less than a predetermined value(No in S41), the control unit 204 makes a determination as the thirdscan mode and the first sending mode (S42).

Then, the measurement unit 202 executes the third scan mode, and thesending unit 206 executes the first sending mode. That is, themeasurement unit 202 performs scan while reciprocating the verticalscanning line in the left and right directions. After the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of the entire one frame.

In a case where the traveling speed is a predetermined value or more(Yes in S41), the process proceeds to S43. In S43, the control unit 204predicts the state of the steering angle of the steering wheel, based onthe planned travel route (S43).

In a case where it is predicted that the steering wheel of the movingbody 240 is turned to the left by a predetermined angle or more within apredetermined traveling distance from the current position (S43), thecontrol unit 204 makes a determination as the first scan mode and thesecond sending mode (S44).

Then, the measurement unit 202 executes the first scan mode, and thesending unit 206 executes the second sending mode. That is, themeasurement unit 202 performs scan while moving the vertical scanningline in one direction from the left to the right. Before the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of a part of one frame. Then, the sending unit206 sends the remaining measurement results of the frame thereafter.

In a case where it is predicted that the steering wheel of the movingbody 240 is turned to the right by a predetermined angle or more withina predetermined traveling distance from the current position (S43), thecontrol unit 204 makes a determination as the second scan mode and thesecond sending mode (S46).

Then, the measurement unit 202 executes the second scan mode, and thesending unit 206 executes the second sending mode. That is, themeasurement unit 202 performs scan while moving the vertical scanningline in one direction from the right to the left. Before the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of a part of one frame. Then, the sending unit206 sends the remaining measurement results of the frame thereafter.

In a case where it is not predicted that the steering wheel of themoving body 240 is turned to the right or be turned to the left by apredetermined angle or more within a predetermined traveling distancefrom the current position (S43), the control unit 204 makes adetermination as the third scan mode and the first sending mode (S45).

Then, the measurement unit 202 executes the third scan mode, and thesending unit 206 executes the first sending mode. That is, themeasurement unit 202 performs scan while reciprocating the verticalscanning line in the left and right directions. After the measurementresults of the entire one frame are acquired, the sending unit 206 sendsthe measurement results of the entire one frame.

Thereafter, the process is repeated until a signal for terminating theprocess (for example: a signal indicating the engine stop of the movingbody 240) is detected.

In the example as well, the same advantageous effect as Example 3 isrealized. Further, if the scan mode and the sending mode are switchedaccording to the steering signal of the steering wheel, there is aconcern of delay in detection of a right-hand object at the time ofturning right or detection of a left-hand object at the time of turningleft is delayed. According to the embodiment in which the steering angleof the steering wheel is predicted based on the planned travel route andthe scan mode and the sending mode are switched according to theprediction results, the inconvenience can be mitigated.

A modification example of the example will be described. The measurementunit 202 is operable in the first and second scan modes, and may notoperate in the third scan mode. Then, the control unit 204 may make adetermination as the first scan mode or the second scan mode instead ofthe third scan mode in S42 and S45. In this case as well, the sameadvantageous effect can be realized.

Example 5

In the present example, the measurement unit 202 is operable in any oneof the first to third scan modes. Further, the sending unit 206 isoperable in the first and second sending modes. Then, the control unit204 determines the sending mode, based on the traveling speed of themoving body 240.

For example, the process starts in response to engine start of themoving body 240 or the like. The control unit 204 acquires the travelingspeed of the moving body 240 and determines whether it is apredetermined value or more.

In a case where the traveling speed is less than a predetermined value,the control unit 204 makes a determination as the first sending mode.Then, the sending unit 206 executes the first sending mode. That is,after the measurement results of the entire one frame are acquired, thesending unit 206 sends the measurement results of the entire one frame.

On the other hand, in a case where the traveling speed is apredetermined value or more, the control unit 204 makes a determinationas the second sending mode. Then, the sending unit 206 executes thesecond sending mode. That is, before the measurement results of theentire one frame are acquired, the sending unit 206 sends themeasurement results of a part of one frame. Then, the sending unit 206sends the remaining measurement results of the frame thereafter.

Thereafter, the process is repeated until a signal for terminating theprocess (for example: a signal indicating the engine stop of the movingbody 240) is detected.

According to the present example, in a case where the traveling speed ofthe moving body 240 is a high speed of a predetermined value or more, apart of the measurement results can be sent without waiting for themeasurement results of the entire one frame to send. According to suchan example, when the traveling speed of the moving body 240 is a highspeed of a predetermined value or more, an object positioned around themoving body 240 can be detected quickly.

<<Advantageous Effects of Measurement Device>>

Next, the advantageous effect of the present embodiment will bedescribed.

The measurement device 200 of the present embodiment is operable in atleast two out of a first scan mode in which scanning is performed whilemoving the vertical scanning line in one direction from left to right, asecond scan mode in which scanning is performed while moving thevertical scanning line in one direction from right to left, and a thirdscan mode in which scanning is performed while reciprocating thevertical scanning line in the left and right directions, and it ispossible to execute an appropriate scan mode depending on the situation.The measurement device 200 of the present embodiment increasesvariations in scanning, which is preferable.

Further, according to the measurement device 200 of the presentembodiment, before the measurement results of the entire one frame areacquired, the measurement results of a part of one frame can be sent.According to the measurement device 200 of the present embodiment, ascompared to the case where the measurement results of the entire oneframe are sent after the measurement results of the entire one frame areacquired, it is possible to accelerate the timing of sending a part ofthe measurement results. As a result, it is possible to quickly processthe part of the measurement results and to quickly detect the objectsincluded therein.

Further, according to the measurement device 200 of the presentembodiment, it is configured to be operable in a first sending mode inwhich after measurement results of an entire one frame are acquired, themeasurement results of the entire one frame are sent, and a secondsending mode in which before measurement results of the entire one frameare acquired, measurement results of a part of one frame are sent, andit is possible to execute an appropriate sending mode according to thesituation. The measurement device 200 of the present embodimentincreases variations in sending measurement results, which ispreferable.

Further, according to the measurement device 200 of the presentembodiment, such a measurement device 200 can be mounted to the movingbody 240 for use. The measurement device 200 of the present embodimentincreases variations in scanning of the measurement device 200 mountedto the moving body 240 for use and variations in sending measurementresults, which is preferable. By properly using a plurality ofvariations, accident prevention or the like is expected. Further, byperforming scanning (determining the scan mode) according to themovement of the moving body, it becomes possible to more efficientlydetect the object present around the moving body.

Further, according to the measurement device 200 of the presentembodiment, it is possible to determine the scan mode and the sendingmode, based on the steering signal of the steering wheel of the movingbody 240. According to the measurement device 200 of the presentembodiment as described above, by executing an appropriate scan mode orsending mode according to the steering wheel state, it is possible toaccelerate the detection of the object present at a position expectedunder the situation. For example, by configuring the measurement device200 as shown in Examples 1 and 3, it is possible to quickly detect anobject located in a turning direction when the moving body turns rightor left. As a result, accident prevention at the time of turning rightor left is expected.

Further, according to the measurement device 200 of the presentembodiment, it is possible to determine the scan mode and the sendingmode, based on the steering signal and the traveling speed of thesteering wheel of the moving body 240. According to the measurementdevice 200 of the present embodiment as described above, by executing anappropriate scan mode or sending mode according to the traveling speedand the steering wheel state, it is possible to accelerate the detectionof the object present at a position expected under the situation. Forexample, by configuring the measurement device 200 as shown in Example3, it is possible to quickly detect an object located in a turningdirection when the moving body moves at a high speed and turns right orleft. As a result, accident prevention at the time of turning right orleft is expected. In other states (for example, during low-speedmovement, traveling straight), normal processes (such as data sending ona frame basis) can be performed. As a result, the processing load of themeasurement device 200 can be reduced.

Further, according to the measurement device 200 of the presentembodiment, it is possible to determine the scan mode and the sendingmode, based on the planned travel route of the moving body 240.According to the measurement device 200 of the present embodiment asdescribed above, by executing an appropriate scan mode or sending modeaccording to the predicted steering wheel state of the moving body 240,it is possible to accelerate the detection of the object present at aposition expected under the situation. For example, by configuring themeasurement device 200 as shown in Examples 2 and 4, it is possible toquickly detect an object located in a turning direction when it ispredicted that the moving body will turn right or left. As a result,accident prevention at the time of turning right or left is expected.

Further, according to the measurement device 200 of the presentembodiment, it is possible to determine the scan mode and the sendingmode, based on the planned travel route and the traveling speed of themoving body 240. According to the measurement device 200 of the presentembodiment as described above, by executing an appropriate scan mode orsending mode according to the traveling speed or the predicted steeringwheel state of the moving body 240, it is possible to accelerate thedetection of the object present at a position expected under thesituation. For example, by configuring the measurement device 200 asshown in Example 4, it is possible to quickly detect an object locatedin a turning direction when it is predicted that the moving body willmove at a high speed and turn right or left. As a result, accidentprevention at the time of turning right or left is expected. In otherstates (for example, during low-speed movement, traveling straight),normal processes (such as data sending on a frame basis) can beperformed. As a result, the processing load of the measurement device200 can be reduced.

Further, according to the measurement device 200 of the presentembodiment, it is possible to determine the sending mode, based on thetraveling speed of the moving body 240. For example, as described inExample 5, when the vehicle moves at a high speed, it is possible toexecute the second sending mode in which the measurement results of apart of one frame is sent, before the measurement results of the entireone frame are acquired. As a result, an object positioned around themoving body 240 at the time of high-speed movement can be detectedquickly. Thus, accident prevention or the like is expected. In otherstates (for example, during low-speed movement), normal processes (suchas data sending on a frame basis) can be performed. As a result, theprocessing load of the measurement device 200 can be reduced.

Further, according to the measurement device 200 of the presentembodiment, the control unit 204 is operable in a first determinationmode in which the scan mode and the sending mode are determined based onthe steering signal of the steering wheel of the moving body 240 and ina second determination mode in which the scan mode and the sending modeare determined based on the planned travel route of the moving body 240,and can execute an appropriate determination mode according to thesituation.

For example, the control unit 204 can select the second determinationmode in a case where the traveling speed of the moving body 240 is thefirst predetermined value or more, and select the first determinationmode in a case where the traveling speed of the moving body 240 is lessthan the first predetermined value.

In a case where the moving body 240 moves at a high speed, if the scanmode and the sending mode are switched according to the steering signalof the steering wheel, there is a concern of delay in detection of aright-hand object at the time of turning right or detection of aleft-hand object at the time of turning left is delayed. On the otherhand, the planned travel route is simply a schedule, and there is aconcern that the driver may not follow it.

According to the measurement device 200 of the present embodiment, in acase where the moving body 240 moves at a high speed, by determining thescan mode and the sending mode based on the planned travel route, it ispossible to accelerate the detection of the right-hand object at thetime of turning right and the detection of the left-hand object at thetime of turning left. On the other hand, in a case where the moving body240 moves at a low speed, there is less necessity of accelerating thedetection of the object compared with the case where the moving body 240is moving at a high speed, so the scan mode and the sending mode can bedetermined based on the steering signal of the steering wheel. Asdescribed above, according to the measurement device 200 of the presentembodiment, it is possible to determine the scan mode and the sendingmode in an appropriate determination mode according to the situation.

Further, according to the measurement device 200 of the presentembodiment, in a case where the traveling speed of the moving body 240is a low speed, the control unit 204 fixes the sending mode and the scanmode to the first sending mode and any scan mode. In a case where thetraveling speed of the moving body 240 is a high speed, the control unit204 can determine an appropriate scan mode and sending mode from among aplurality of scan modes and a plurality of sending modes, based on thesteering signal of the steering wheel and the planned travel route ofthe moving body 240 (see Embodiments 3 and 4).

As described above, according to the measurement device 200 of thepresent embodiment, in a case where the moving body 240 moves at a highspeed and there is an increased necessity for accelerating the detectionof an object increases, it is possible to determine an appropriate scanmode and sending mode, from among a plurality of scan modes and aplurality of sending modes. Then, in a case where the moving body 240moves at a low speed and the necessity of accelerating the detection ofthe object is relatively low, it is possible to make a determination asthe fixed scan mode and sending mode. In this way, by executing theprocess of switching between a plurality of scan modes and a pluralityof sending modes only when necessary, the processing load of themeasurement device 200 can be reduced.

Further, according to the present embodiment, the scan mode and thesending mode can be determined, based on a signal indicating the stateof the turn signal of the moving body, the image of the exteriorsurroundings of the moving body captured by a camera attached to themoving body, and other sensors (a gyro sensor, an acceleration sensor, atilt sensor, or the like). In such a case as well, the same advantageouseffect as the case based on the steering signal of the steering wheeland the planned travel route of the moving body can be realized.

Further, according to the present embodiment, in the second sendingmode, it is possible to repeatedly output only data of a part of oneframe. In such a case, it is expected that the detection of theright-hand or left-hand object can be accelerated by the period of timesaved by not processing the remaining part of the one frame.

Although the embodiments and examples have been described above withreference to the drawings, these are examples of the present invention,and various configurations other than the above can be adopted.

This application claims priority based on Japanese Patent ApplicationNo. 2016-165818 filed on Aug. 26, 2016, and the disclosure of which isincorporated herein in its entirety.

The invention claimed is:
 1. A measurement device mounted to a movingbody, the measurement device comprising: a measurement unit thatmeasures an object by emitting electromagnetic waves and scanning theobject with the electromagnetic waves, a sending unit that sends, in afirst sending mode or a second sending mode, data measured by themeasurement unit, and a control unit that determines, based on a movingstate of the moving body, a sending mode to be executed by the sendingunit, wherein the sending unit: sends, in the first sending mode,measurement result in a predetermined range, sends, in the secondsending mode, measurement result in a part of the predetermined range,and the control unit determines, based on speed of the moving body, thesending mode.
 2. The measurement device according to claim 1, whereinthe second mode sends some measurement results within a predeterminedrange and does not send remaining measurement results.
 3. A controlapparatus mounted to a moving body, the control apparatus comprising: ameasurement unit that measures an object by emitting electromagneticwaves and scanning the object with the electromagnetic waves, a sendingunit that sends, in a first sending mode or a second sending mode, datameasured by the measurement unit, a control unit that determines, basedon a moving state of the moving body, a sending mode to be executed bythe sending unit, and an information acquisition unit that acquires atleast one of information related to features included in a map andtraffic information requiring special attention, wherein the sendingunit: sends, in the first sending mode, measurement result in apredetermined range, sends, in the second sending mode, measurementresult in a part of the predetermined range, and the control unitdetermines, based on at least one of the information acquired by theinformation acquisition unit and a current position of the moving body,the sending mode.
 4. The control apparatus according to claim 3, whereinthe second mode sends some measurement results within a predeterminedrange and does not send remaining measurement results.
 5. A measurementmethod executed by a computer mounted to a moving body, the measurementmethod comprising: measuring an object by emitting electromagnetic wavesand scanning the object with the electromagnetic waves, sending, in afirst sending mode or a second sending mode, measured data, anddetermining, based on a moving state of the moving body, a sending modeto be executed, wherein the computer: sends, in the first sending mode,measurement result in a predetermined range, sends, in the secondsending mode, measurement result in a part of the predetermined range,and determines, based on speed of the moving body, the sending mode. 6.The measurement method according to claim 5, wherein the second modesends some measurement results within a predetermined range and does notsend remaining measurement results.
 7. A control method executed by acomputer mounted to a moving body, the control method comprising:measuring an object by emitting electromagnetic waves and scanning theobject with the electromagnetic waves, sending, in a first sending modeor a second sending mode, measured data, and determining, based on amoving state of the moving body, a sending mode to be executed, andacquiring at least one of information related to features included in amap and traffic information requiring special attention, wherein thecomputer: sends, in the first sending mode, measurement result in apredetermined range, sends, in the second sending mode, measurementresult in a part of the predetermined range, and determines, based on atleast one of the information acquired and a current position of themoving body, the sending mode.
 8. The control method according to claim7, wherein the second mode sends some measurement results within apredetermined range and does not send remaining measurement results. 9.A non-transitory storage medium storing a program causing a computer,mounted to a moving body, to execute as: a measurement unit thatmeasures an object by emitting electromagnetic waves and scanning theobject with the electromagnetic waves, a sending unit that sends, in afirst sending mode or a second sending mode, data measured by themeasurement unit, and a control unit that determines, based on a movingstate of the moving body, a sending mode to be executed by the sendingunit, wherein the sending unit: sends, in the first sending mode,measurement result in a predetermined range, sends, in the secondsending mode, measurement result in a part of the predetermined range,and the control unit determines, based on speed of the moving body, thesending mode.
 10. The non-transitory storage medium according to claim9, wherein the second mode sends some measurement results within apredetermined range and does not send remaining measurement results. 11.A non-transitory storage medium storing a program causing a computer,mounted to a moving body, to execute as: a measurement unit thatmeasures an object by emitting electromagnetic waves and scanning theobject with the electromagnetic waves, a sending unit that sends, in afirst sending mode or a second sending mode, data measured by themeasurement unit, a control unit that determines, based on a movingstate of the moving body, a sending mode to be executed by the sendingunit, and an information acquisition unit that acquires at least one ofinformation related to features included in a map and trafficinformation requiring special attention, wherein the sending unit:sends, in the first sending mode, measurement result in a predeterminedrange, sends, in the second sending mode, measurement result in a partof the predetermined range, and the control unit determines, based on atleast one of the information acquired by the information acquisitionunit and a current position of the moving body, the sending mode. 12.The non-transitory storage medium according to claim 11, wherein thesecond mode sends some measurement results within a predetermined rangeand does not send remaining measurement results.